13.10 Fully-Closed Loop Control
13-25
13
CiA402 Drive Pr
ofile
13.10
Fully-Closed Loop Control
The following figure shows the block diagram for the fully-closed loop control.
The basic setting procedure for the related parameters is given in the following table.
Position
control
Speed
control
Torque
control
Position demand
internal value
Position
user unit
(2701 hex: 1, 2701 hex: 2)
Velocity
user unit
(2702 hex: 1, 2702 hex: 2)
Position actual value (6064 hex)
Velocity actual value (606C hex)
Machine
Serial
Converter Unit
(×256 or ×512)
Pn22A
(222A hex)
= n.0
[pitch]
[inc]
Pn22A
(222A hex)
= n.1
FS->S Unit
(Pn20A (220A hex))
S->FS Unit
(Pn20A (220A hex))
+
+
FS->S Unit
(Pn20A (220A hex))
FS->S Unit
(Pn20A (220A hex))
Velocity offset or
Velocity demand value
Motor
S
FS
Option Module
SERVOPACK
Multiplier
Multiplier
Multiplier
Multiplier
Multiplier
Multiplier
Step
Description
Parameter Setting
1
Set the speed feedback method to use during fully-closed
loop control.
Fully-closed Control Selections
(Pn22A (222A hex))
2
Set the motor rotation direction.
Rotation Direction Selection (Pn000
(2000 hex) = n.
X)
External Encoder Usage (Pn002
(2002 hex) = n.X
)
3
Set the number of pitches (cycles) of the sine wave for the
external encoder.
Number of External Scale Pitches
(Pn20A (220A hex))
4
Set the position reference unit (electronic gear).
Position user unit (2701 hex)
5
Set the alarm detection level for the external encoder.
Motor-Load Position Deviation
Overflow Detection Level (Pn51B
(251B hex))
Multiplier per Fully-closed Rotation
(Pn52A (252A hex))
